Close loop control of an illumination source based on sample heating

ABSTRACT

Crop is routed past a sample window on an agricultural combine harvester. Light it is impinged on the crop from an illumination source and reflected radiation is directed to a sensor. The output of the sensor is indicative of various constituents in the harvested crop. The illumination source is controlled based on the temperature proximate the crop sample.

FIELD OF THE DESCRIPTION

The present description relates to agricultural sensors. Morespecifically, the present description relates to controlling anagricultural sensor on an agricultural mobile machine.

BACKGROUND

There are many different types of agricultural machines, includingagricultural harvesters. There are also many different types ofagricultural harvesters. Some such harvesters include combineharvesters, self-propelled forage harvesters, sugarcane harvesters,cotton harvesters, among others.

Harvested, crops are sometimes sampled to determine whether they havevarious different characteristics. For instance, in one example, a cropsample is illuminated and is analyzed for constituents with aspectrometer or other light sampling device.

Different proteins, oils, and other substances absorb certain lightspectra. Therefore, by performing spectral analysis based on notches inthe reflected radiation, the system can identify the levels of thoseconstituent elements. High starch corn, for instance, may be morevaluable for ethanol production than lower starch corn. High proteinwheat may be more valuable for certain things than lower protein wheat,etc.

The discussion above is merely provided for general backgroundinformation and is not intended to be used as an aid in determining thescope of the claimed subject matter.

SUMMARY

Crop is routed past a sample window on an agricultural harvester. Lightis impinged on the crop from an illumination source and reflectedradiation is directed to a spectrometer. The output of the spectrometeris indicative of various constituents in the harvested crop. Theillumination source is controlled based on the temperature proximate thecrop sample.

This Summary is provided to introduce a selection of concepts in asimplified form that are further described below in the DetailedDescription. This Summary is not intended to identify key features oressential features of the claimed subject matter, nor is it intended tobe used as an aid in determining the scope of the claimed subjectmatter. The claimed subject matter is not limited to implementationsthat solve any or all disadvantages noted in the background.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a block diagram of one example of a portion of an agriculturalharvester with a crop sampling system.

FIG. 2 is a block diagram showing one example of an illuminationcontroller, in more detail.

FIG. 3 is a flow diagram illustrating one example of the operation ofthe illumination controller.

FIG. 4 is a graph showing temperature vs. time.

FIG. 5 is a graph showing the illumination source control signal vs.time.

FIG. 6 is a partial pictorial, partial schematic illustration of a selfpropelled forage harvester.

FIG. 7 is a partial pictorial, partial schematic illustration of acombine harvester.

FIG. 8 is a block diagram showing one example of a computing environmentthat can be deployed on the harvesters to implement the crop samplingsystem discussed in previous figures.

DETAILED DESCRIPTION

As discussed above, some harvested crop is sampled for constituentelements. Some sampling systems are deployed on agricultural harvestersso the crop is sampled during the harvesting operation. For instance,some agricultural harvesters sample crop for various constituents usinga spectrometer or other light sampling device. In such machines, anillumination source emits light onto the crop sample through a lens orsampling window. Radiation is reflected off of the crop sample onto aspectroscopy chip, a MEMS interferometer or other spectral analysissensor. In order to obtain consistent constituent measurements, theintensity of the radiation emitted by the illumination source is heldrelatively constant during sampling. However, when the ambienttemperature in the area of the sample analysis operation varies over arelatively wide range, then the temperature increase caused by theintensity of the radiation emitted by the illumination source can alsovary. This can compromise the overall success in making consistentconstituent measurements.

In addition, if the illumination source is activated, at full power, thecrop sample proximate the sample window can get hot, especially if thecrop sample is captured and held in place for a significant duration, inorder to take the measurement. This problem can be exacerbated when theambient temperature increases.

This problem could be addressed by periodically switching off theillumination source to ensure that the crop sample cools downsufficiently. However, this increases the sample time because, in orderfor there to be consistent sampling measurements, the intensity of theillumination source must be relatively consistent. If it is turned offand allowed to cool down too far, this increases the time needed for theillumination source to power back up to the desired intensity. Thus,simply turning off the illumination source periodically (with an offperiod sufficient to guarantee that the sample temperature will cooldown enough in all weather) reduces the efficiency of the overallsampling process. For instance, when the ambient temperature isrelatively cool, it may be that the illumination source needs to only beturned off a very short time, whereas when the ambient temperature isrelatively hot, this may mean that the illumination source should beturned off for a longer period of time. Therefore, if a uniform orperiodic cycling of the illumination source is used, then the system isnot optimized for ambient temperature. Sub-optimization of the samplingsystem can lead to less granular (and thus less precise) sample results.

By sampling at the highest rate possible, the samples are attributed toa smaller area of the field. This means that the crop from the field issampled with higher frequency, and the samples are thus more precise inreflecting the characteristics of the crop, itself, than if the samplesare taken less frequently.

The present description thus proceeds with respect to a system that usesa temperature sensor on the sampling window, past which the crop sampletravels. The temperature sensor provides a temperature signal,indicative of the temperature of the crop sampling window (or anotherarea proximate the crop sample), to an illumination controller thatcontrols the illumination source so that it is on (or active) until thetemperature of the sampling window reaches a threshold temperaturevalue. The illumination controller then turns off the illuminationsource until the temperature of the sampling window reaches a secondthreshold temperature, which is lower than the first thresholdtemperature. It then turns the illumination source back on so thatadditional samples can be taken. In this way, the illumination source iscontrolled based on a desired sample rate and based on the temperatureof the sampling window so that samples can be taken at a high frequency,regardless of the ambient temperature, while still inhibiting cropoverheating.

FIG. 1 shows one example of an agricultural harvester 100. Harvester 100illustratively includes propulsion system 102, steering system 104, avariety of different harvesting functionality 106 (which will vary basedon the type of harvester), operator interface mechanisms 108,communication system 110, geographic position system 111, computingsystem 112, and a spectrometer device or spectroscopy device, orinterferometer (or other spectral analysis sensor) 114, sources ofillumination 116 and 118, a crop sample 120 that travels past a samplewindow element 122 that defines a sample window, and it can include awide variety of other items 124. Computing system 112, itself, caninclude one or more processors 126, data store 128 (which can include asample rate 130 sample results 131 and other items 132), crop samplingsystem 134, and other items 136. Crop sampling system 134 can includeclosed loop lamp control system 138 (which can itself include sampletrigger generator 140, illumination driver component 142, illuminationcontroller 144 and other items 146), sample processing system 148 andother items 150. FIG. 1 also shows that agricultural harvester 100 canbe operated by an operator 152 and can be connected one or more remotesystems 154 over a network 156. Network 156 can thus be a wide areanetwork, a local area network, a near field communication network, acellular communication network, or any of a wide variety of othernetworks or combinations of networks. Remote systems 154 can be systemsin remote server environments, (e.g., cloud-based systems), farm managersystems, vendor systems, or other remote systems. Before describing theoverall operation of agricultural harvester 100 in controllingillumination sources 116 and 118, a brief description of some of theitems in harvester 100, and their operation, will first be provided.

Propulsion system 102 propels a set of ground-engaging elements (such aswheels or tracks) on agricultural harvester 100 to move it. Steeringsystem 104 can be controlled by operator 152, or automatically, to steeragricultural harvester 100. Other harvesting functionality can be any ofa wide variety of different types of functionality, such as headerfunctionality, crop accelerator, separator, and cleaning mechanisms,when the harvester is a combine harvester. It can include silagegeneration functionality where the harvester is a forage harvester. Itcan include billet generation functionality when the harvester is asugarcane harvester and bale generation functionality when the harvesteris a cotton harvester. These are examples only and other harvestingfunctionality can be used based upon the type of harvester.

Operator interface mechanisms 108 can include a wide variety ofdifferent mechanisms that operator 152 can interact with in order tocontrol agricultural harvester 100. Therefore, they can include steeringwheels, pedals, levers, linkages, joysticks, buttons, a microphone andspeaker (where speech recognition and synthesis are provided), a useractuatable display which can be actuated using a point and click device,using touch gestures, or otherwise, or a wide variety of other userinterface mechanisms.

Communication system 110 can be used to enable communication among thevarious items of agricultural harvester 100 and also communicationbetween harvester 100 and remote systems 104. Therefore, communicationsystem 110 can include a controller area network (CAN) communicationsystem, a cellular communication system, a wide area networkcommunication system, a local area network communication system, or anyof a wide variety of other systems or combination of systems. Geographicposition system 111 can include a global navigation receiver forreceiving GNSS signals, a dead reckoning system, or any of a widevariety of other positioning systems that generate a position signalindicative of a geographic position or location of agriculturalharvester 100.

Crop sampling system 134 illustratively handles crop sampling so that asa crop sample 120 moves adjacent sampling window element 122,illumination sources 116 and 118 can be activated, or turned on, toilluminate crop sample 120 through window element 122. Element 122 canbe glass, polymer, or other material that allows the radiation to passthrough. Radiation 160 thus impinges on the crop sample 120 throughwindow element 122. Radiation 162 is reflected off of the crop sample120, and travels through window element 122 and impinges on sensor 114.Sensor 114 generates an output 164, which is provided to sampleprocessing system 148. Sample processing system 148 identifiesconstituent elements in the crop sample 120, based upon a spectralanalysis of the reflected radiation 162. Sample processing system 148can also provide an output to closed loop lamp control system 138 whichcontrols the illumination sources 116 and 118.

Window element 122 illustratively has a temperature sensor 166 disposedthereon. Temperature sensor 166 can be any of a wide variety ofdifferent temperature sensors that senses the temperature of samplewindow element 122 and provides an output signal, indicative of thattemperature, to illumination controller 144. Illumination controller 144thus generates a signal to illumination driver component 142 indicatingwhether the illumination sources 116 and 118 should be turned on or offbased upon the temperature generated by temperature sensor 166.Illumination driver component 142 can then provide an output signal todrive illumination sources 116 and 118 to turn them on and off basedupon the output from illumination controller 144. Illuminationcontroller 144 may also detect a desired sample rate 130 (which can bestored in data store 128 or elsewhere) to determine how often to samplethe grain as it passes window element 122. The sample rate 130 mayindicate that the grain is to be sampled once per second, once everythree seconds, as often as possible, etc. Thus, based upon thetemperature of the sample window element 122 and the desired sample rate130, illumination controller 144 generates an output to illuminationdriver component 142 indicating that illumination driver component 142should turn on or off the illumination sources 116 and 118.

Under certain circumstances, especially when the harvesting operation isbeginning, it may take a threshold amount of time for illuminationsources 116 and 118 to reach a sufficient power output that the samplestaken will be consistent. Therefore, illumination driver component 142can provide an output to sample trigger generator 140 to indicate thatthe illumination sources 116 and 118 have been on long enough to reach asufficient power to provide consistent sampling results. At that point,sample trigger generator 140 can generate an output to sensor 114indicating that a sample should be taken, based upon the radiation 162impinging thereon, and an output 164 can be provided from spectrometerchip 114 to sample processing system 148 for analysis.

Sample processing system 148 can generate an output to store the sampleresults 131 in data store 128 so they can be displayed to operator 152over an operator interface mechanism 108. The sample results 131 canalso be sent to remote systems 154, or elsewhere, using communicationsystem 110.

FIG. 2 is a block diagram showing one example of illumination controller144, in more detail. FIG. 2 shows that illumination controller 144receives a desired sample rate 130. It also receives the temperaturesensor signal 180 from temperature sensor 166. It generates an outputsignal 182 to turn on and off illumination sources 116 and 118, basedupon the desired sample rate 130 and the temperature of sample window122, reflected by temperature sensor signal 180.

In the example shown in FIG. 2 , illumination controller 144, itself,illustratively includes signal conditioning component 184, lamp on/offcontroller 186, and it can include other items 188. Signal conditioningcomponent 184 can include functionality such as filtering functionalitywhich smooths the temperature sensor signal 180. It can also includeamplification functionality, normalization or linearizationfunctionality, among other signal conditioning functionality. Lampon/off controller 186 generates on/off signals 182 (which are providedto illumination driver component 184 for generating the actualillumination drive signals) based upon the desired sample rate 130. Indoing so, controller 186 ensures that the temperature of the samplewindow element 122, sensed by temperature sensor 166, does not exceed athreshold temperature value but also ensures that the illuminationsources 116 and 118 do not cool down too much so as to undesirably slowdown the sample rate. Thus, controller 186 attempts to controlillumination sources 116 and 118 so that the desired sample rate 130 canbe achieved, while still not overheating the crop sample 120 (byoverheating the sample window element 122).

FIG. 3 is a flow diagram illustrating one example of the operation ofillumination controller 144, in more detail. It is assumed that, at somepoint, agricultural harvester 100 will begin operating so that samplesare to be taken by crop sampling system 134. Thus, at some point, lampon/off controller 186 generates a lamp on signal 182 and provides it toillumination driver component 142, which generates an output signal toturn on the lamps. This is indicated by block 190 in the flow diagram ofFIG. 3 . It is also assumed that illumination sources 116 and 118 (thelamps) are to be turned on for some period during which the outputillumination level ramps up to full power, or to a threshold power thatis sufficient to take an accurate spectral sample. Sample triggergenerator 140 (based on an output from driver component 142 orcontroller 144 indicating that the lamps have been turned on) determineswhether the lamp output is at the measurement threshold level so that anaccurate measurement can be taken. This is indicated by block 192 in theflow diagram of FIG. 3 .

Once the lamps 116-118 are at the measurement threshold output level,then sample trigger generator 140 generates a sample trigger andprovides it to sensor 114. This triggers sensor 114 to take ameasurement or sample based upon the reflected radiation 162,corresponding to the crop sample 120. Generating a sample trigger outputto sensor device 114 is indicated by block 194 in the flow diagram ofFIG. 3 , and taking a sample using sensor 114 is indicated by block 196.

The sample from sensor 114 is provided to sample processing system 148which performs a spectral analysis on the output to identify variousconstituent elements in crop sample 120. The results can be providedfrom system 148 to data store 128 as sample results 131. Performingspectral analysis is indicated by block 198 in the flow diagram of FIG.3 . Storing the sample results is indicated by block 200. The sample canbe taken and processed in other ways as well, and this is indicated byblock 202.

During the sampling, temperature sensor 166 senses the temperature ofsample window element (or lens) 122 and provides the temperature sensorsignal 180 back to signal conditioning component 184 in illuminationcontroller 144. Detecting the lens (or sample window element)temperature is indicated by block 204 in the flow diagram of FIG. 3 .Lamp on/off controller 186 compares the temperature of element 122 to athreshold temperature to determine whether lamp on/off controller 186should turn off lamps 116 and 118 so that element 122 can cool down.This is indicated by block 206. If, at block 206, it is determined thatthe temperature of sample window element 122 has not yet reached theturn off threshold, then processing reverts to block 194 where sampletrigger generator 140 can generate a trigger signal and provide it tosensor 114 to continue to take samples, at the desired sample rate.

However, if at block 206 lamp on/off controller 186 determines that thesample window element 122 has reached the turn off temperaturethreshold, then lamp on/off controller 186 generates an output signal sothat illumination driver component 142 turns off lamps 116 and 118.Turning off the lamps is indicated by block 208 in the flow diagram ofFIG. 3 .

Unless the harvesting operation is complete, as indicated by block 210in the flow diagram of FIG. 3 , lamp on/off controller 186 continues todetect the sample window element temperature to determine whether it hasdropped sufficiently so that the lamps can be turned back on and so thatsample trigger generator 140 can trigger more samples to be taken bysensor 114. Detecting the sample window temperature is indicated byblock 212 and determining whether it has dropped sufficiently to reach aturn-on threshold temperature is indicated by block 214. If not, lampon/off controller 186 simply waits for the temperature to drop further,and processing reverts to block 212.

However, once the temperature of sample window element 122 has droppedto the turn on threshold temperature, then lamp on/off controller 186again generates an output signal 182 to illumination driver component184 to turn the lamps back on. This is indicated by block 216. With thelamps back on, processing reverts to block 194 where sample triggergenerator 140 can again continue to generate sample triggers so thatsensor 114 can take more samples.

FIGS. 4 and 5 are graphs illustrating how the temperature sensor signal180 varies relative to the lamp on/off signal 182. FIG. 4 graphs thetemperature indicated by the temperature sensor signal 180 versus time.FIG. 4 shows that the temperature sensor signal can be compared againsta turn on threshold and a turn off threshold. The turn off threshold isa temperature at which sample window element 122 is becoming too hot sothe lamps 116 and 118 should be turned off, allowing element 122 to cooldown. The turn on threshold is a temperature at which sample windowelement 122 is sufficiently cool so that the lamps 116 and 118 can beturned back on. It will be noted that, in one example, the turn onthreshold is still high enough so that once lamps 116 and 118 are turnedon, they are at a sufficient power level so that sensor 114 can takeconsistent samples. More specifically, when the lamps 116 and 118 arecold (e.g., near ambient temperature) it may take some time for them toheat up sufficiently (once they are turned on) so that the spectralresults will be consistent. In one example, the turn on threshold is sethigh enough so that once the lamps are turned on (after they have cooleddown from the turn off threshold) the amount of time needed to takeconsistent spectral results is a very short time, or is zero. Thus, thesampling rate will not suffer simply because the lamps 116 and 118 areintermittently turned off to allow the sample window element temperatureto cool down.

FIG. 5 shows that at time t0, the lamps 116 and 118 are turned on, asindicated by the on/off signal 182. When this happens, the temperatureof sample window element 122 will eventually reach the turn on thresholdand continue to ramp upwardly. Once the temperature of sample windowelement 122 reaches the turn off threshold, at time t1, then lamp on/offcontroller 186 generates the on/off signal 182 to turn off the lamps 116and 118. During the time from t0 to t1, sample trigger generator 140 cantrigger sensor 114 to take samples based on the desired sample rate 130.Once the lamps 116 and 118 are turned off, this causes the temperaturesignal 180 of the sample window 122 to begin to fall until it againreaches the turn on threshold at time t2. At that point, lamp on/offcontroller 186 then turns the lamps on again and the temperature signal180 begins to rise until it reaches the turn off threshold at time t3when the lamps are turned off and the temperature again begins to falluntil it reaches the turn on threshold at time t4. This type ofoperation illustratively continues, with samples enabled when lamps 116and 118 are on, until the harvesting operation is complete.

It can thus be seen that the present description describes a systemwhich controls the illumination sources 116 and 118 based on thetemperature of the sampling window element 122, instead of simplyperiodically. This ensures that the sample rate can be as high aspossible, while still not overheating the crop samples.

A number of more specific examples of agricultural harvester 100 willnow be provided. These are examples only.

FIG. 6 is a partial pictorial, partial sectional view an example inwhich agricultural harvester 100 is a forage harvester 300. Forageharvester 300 illustratively includes a mainframe 302 that is supportedby ground engaging elements, such as front wheels 304 and rear wheels306. The wheels 304, 306 can be driven by an engine (or other powersource) through a transmission. They can be driven by individual motors(such as individual hydraulic motors) or in other ways.

FIG. 6 shows that, in the example illustrated, forage harvester 300includes operator compartment 350. Operator compartment 350 has aplurality of different operator interface mechanisms 108 that caninclude such things as pedals, a steering wheel, user interface displaydevices, touch sensitive display screens, a microphone and speechrecognition components, speech synthesis components, joysticks, levers,buttons, as well as a wide variety of other mechanical, optical, hapticor audio interface mechanisms. During operation, the machine moves inthe direction generally indicated by arrow 352.

A header 308 is mounted on the forward part of forage harvester 300 andincludes a cutter that cuts or severs the crop being harvested, as it isengaged by header 308. The crop is passed to upper and lower feed rolls310 and 312, respectively, which move the harvested material to chopper314. In the example shown in FIG. 6 , chopper 314 is a rotatable drumwith a set of knives mounted on its periphery, which rotates generallyin the direction indicated by arrow 316. Chopper 314 chops the harvestedmaterial received through rollers 310-312, into pieces, and feeds it toa kernel processing unit which includes kernel processing rollers 318and 320. The kernel processing rollers 318 and 320 are separated by agap and are driven by one or more different motors which can drive therollers at different rotational speeds. Therefore, as the chopped,harvested material is fed between rollers 318 and 320, the rollers crushand grind the material (including the kernels) into fragments.

In one example, at least one of the rollers 318 and 320 is mounted formovement under control of actuator 322. Actuator 322 can be an electricmotor, a hydraulic actuator, or any other actuator which drives movementof at least one of the rollers relative to the other, to change the sizeof the gap between rollers 318 and 320 (the kernel processing gap). Whenthe gap size is reduced, this can cause the kernels to be broken intosmaller fragments. When the gap size is increased, this can cause thekernels to be broken into larger fragments, or (if the gap is largeenough) even to remain unbroken. The kernel processing rollers 318 and320 can have surfaces that are relatively cylindrical, or the surfacesof each roller can have fingers or knives which protrude therefrom, andwhich cooperate with fingers or knives of the opposite kernel processingroller, in an interdigitated fashion, as the rollers turn. These andother arrangements or configurations are contemplated herein.

The processed crop is then transferred by rollers 318-320 to conveyor324. Conveyor 324 can be a fan, or auger, or other conveyor that conveysthe harvested and processed material upwardly generally in the directionindicated by arrow 326 through chute 328. The crop exits chute 328through spout 330.

In the example shown in FIG. 6 , chute 328 includes an image capturehousing 332 disposed on the side thereof. If can be separated from theinterior of chute 328 by an optically permeable barrier (or samplewindow element) 122. Barrier 122 can be, for instance glass, plastic, oranother barrier that permits the passage of at least certain wavelengthsof light therethrough. Housing 332 illustratively includes a radiationsource 116, 118, a spectral analysis sensor 114, and can also include animage capture device 340. Radiation source 116, 118 illustrativelyilluminates the crop passing through chute 328 with radiation. Sensor114 detects radiation that is fluoresced or otherwise transmitted fromthe crop, and image capture device 340 can capture an optical image ofthe crop. Sensor 114 can sense radiation spectra reflected by the cropand sample processing system 148 can identify constituent elements ofthe sampled crop. Also, based on the image and the sensed radiation, asize distribution indicative of the distribution of the size of thekernels or kernel fragments in the harvested crop passing through chute328 can be identified. It can be passed to a control system whichcontrols the speed differential of rollers 118 and 120, and/or the sizeof the gap between rollers 318 and 320 based upon the size distributionof kernels and kernel fragments.

It will also be noted that, in another example, instead of having thesensors in housing 332 sense characteristics of the crop passing throughchute 328, a sample of the crop can be diverted into a separate chamber,where its motion is momentarily stopped so the image can be taken andthe characteristics can be sensed. The crop can then be passed back intothe chute 328 where it continues to travel toward spout 330. These andother arrangements and configurations are contemplated herein.

FIG. 7 is a partial pictorial, partial schematic, illustration of aself-propelled agricultural harvester 100, in an example where harvester100 is a combine harvester (or combine) 400. It will be appreciated thatthe present description can just as easily be applied to a cottonharvester, a sugarcane harvester, a windrower or other agriculturalharvesters. It proceeds now with respect to a combine harvester by wayof example only.

It can be seen in FIG. 7 that combine 400 illustratively includes anoperator compartment 401, which can have a variety of different operatorinterface mechanisms 108, for controlling combine 400. Combine 400 caninclude a set of front end equipment that can include header 402, and acutter generally indicated at 404. It can also include a feeder house406, a feed accelerator 408, and a thresher generally indicated at 410.Header 402 is pivotally coupled to a frame 403 of combine 400 alongpivot axis 405. One or more actuators 407 drive movement of header 402about axis 405 in the direction generally indicated by arrow 409. Thus,the vertical position of header 402 (the header height) above ground 411over which it is traveling can be controlled by actuating actuator 407.While not shown in FIG. 7 , it may be that the tilt and/or roll angle ofheader 402 or portions of header 402 can be controlled by separateactuators. Tilt, refers to the angle at which the cutter engages thecrop, the angle being defined about an axis that is traverse (e.g.,orthogonal) to the direction of movement of the harvester 400. The rollrefers to the orientation of header 402 about the front-to-backlongitudinal axis of combine 400.

Thresher 410 illustratively includes a threshing rotor 412 and a set ofconcaves 414. Further, combine 400 can include a separator 416 thatincludes a separator rotor. Combine 400 can include a cleaning subsystem(or cleaning shoe) 418 that, itself, can include a cleaning fan 420,chaffer 422 and sieve 424. The material handling subsystem in combine400 can include (in addition to a feeder house 406 and feed accelerator408) discharge beater 426, tailings elevator 428, clean grain elevator430 (that moves clean grain into clean grain tank 432) as well asunloading auger 434 and spout 436. Combine 400 can further include aresidue subsystem 438 that can include chopper 440 and spreader 442.Combine 400 can also have a propulsion subsystem that includes an enginethat drives ground engaging wheels 444 or tracks, etc. It will be notedthat combine 400 may also have more than one of any of the subsystemsmentioned above (such as left and right cleaning shoes, separators,etc.).

In operation, and by way of overview, combine 400 illustratively movesthrough a field in the direction indicated by arrow 447. As it moves,header 402 (and the associated reel) engages the crop to be harvestedand gathers it toward cutter 404. The operator illustratively sets aheight setting for header 402 (and possibly a tilt and/or roll anglesetting) and a control system controls actuator 407 (and possibly a tiltand/or roll actuators—not shown) to maintain header 402 at the setheight above ground 411 (and at the desired tilt and/or roll angles).The control system responds to header error (e.g., the differencebetween the set height and measured height of header 404 above ground411 and possibly tilt and/or roll angle error) with a responsivenessthat is determined based on a set sensitivity level. If the sensitivitylevel is set high, the control system responds to, smaller headerposition errors, and attempts to reduce them more quickly than if thesensitivity is set lower.

Returning to the description of the operation of combine 400, after thecrop is cut by cutter 404, it is moved through a conveyor in feederhouse 406 toward feed accelerator 408, which accelerates the crop intothresher 410. The crop is threshed by rotor 412 rotating the cropagainst concaves 414. The threshed crop is moved by a separator rotor inseparator 416 where some of the residue is moved by discharge beater 426toward the residue subsystem 438. It can be chopped by residue chopper440 and spread on the field by spreader 442. In other configurations,the residue is simply chopped and dropped in a windrow, instead of beingchopped and spread.

Grain falls to cleaning shoe (or cleaning subsystem) 418. Chaffer 422separates some of the larger material from the grain, and sieve 424separates some of the finer material from the clean grain. Clean grainfalls to an auger which moves the grain to an inlet end of clean grainelevator 430, which moves the clean grain upward and deposits it inclean grain tank 432. Residue can be removed from the cleaning shoe 418by airflow generated by cleaning fan 420. Cleaning fan 420 directs airalong an airflow path upwardly through the sieves and chaffers and theairflow carries residue rearwardly in combine 400 toward the residuehandling subsystem 438.

Tailings can be moved by tailings elevator 428 back to thresher 410where they can be re-threshed. Alternatively, the tailings can also bepassed to a separate re-threshing mechanism (also using a tailingselevator or another transport mechanism) where they can be re-threshedas well.

FIG. 7 also shows that window element 122 can be situated anywhere alongthe travel path of the harvested crop where a sample is to be taken. Inone example, the window element 122 can be disposed on a wall proximatethe auger that moves grain to the lower end of the clean grain elevator430. Illumination sources 116 and 118 and sensor 114 can be positionedappropriately to illuminate a grain sample as it moves along the samplewindow element 122. In another example, a grain sample can bemomentarily captured in a measurement chamber to take a measurement withsensor 114 and then re-introduced into the grain pathway for continuedprocessing.

In yet another example, illustrated in FIG. 7 , window element 122 canbe disposed at the upper end of the clean grain elevator 430, along withillumination sources 116, 118 and sensor 114. It will be noted thatthese items can be located elsewhere along the grain travel path inharvester 400 as well. Also, crop sampling system 134 can be locatedclosely proximate sensor 114 or elsewhere on harvester 400.

FIG. 7 also shows that, in one example, combine 400 can include groundspeed sensor 447, one or more separator loss sensors 448, a clean graincamera 450, a forward looking image capture mechanism 451 (e.g., astereo or mono camera), and one or more cleaning shoe loss sensors 452.Ground speed sensor 446 illustratively senses the travel speed ofcombine 400 over the ground. This can be done by sensing the speed ofrotation of the wheels, the drive shaft, the axel, or other components.The travel speed can also be sensed by a positioning system, such as aglobal positioning system (GPS), a dead reckoning system, a LORANsystem, or a wide variety of other systems or sensors that provide anindication of travel speed.

Cleaning shoe loss sensors 452 illustratively provide an output signalindicative of the quantity of grain loss by both the right and leftsides of the cleaning shoe 418. In one example, sensors 452 are strikesensors which count grain strikes per unit of time (or per unit ofdistance traveled) to provide an indication of the cleaning shoe grainloss. The strike sensors for the right and left sides of the cleaningshoe can provide individual signals, or a combined or aggregated signal.It will be noted that sensors 452 can comprise only a single sensor aswell, instead of separate sensors for each shoe.

Separator loss sensor 448 provides a signal indicative of grain loss inthe left and right separators. The sensors associated with the left andright separators can provide separate grain loss signals or a combinedor aggregate signal. This can be done using a wide variety of differenttypes of sensors as well. It will be noted that separator loss sensors448 may also comprise only a single sensor, instead of separate left andright sensors.

It will also be appreciated that sensor and measurement mechanisms (inaddition to the sensors already described) can include other sensors oncombine 400 as well. For instance, they can include a header heightsensor that senses a height of header 402 above ground 411. They caninclude a residue setting sensor that is configured to sense whethermachine 400 is configured to chop the residue, drop a windrow, etc. Theycan include cleaning shoe fan speed sensors that can be configuredproximate fan 420 to sense the speed of the fan. They can include athreshing clearance sensor that senses clearance between the rotor 412and concaves 414. They can include a threshing rotor speed sensor thatsenses a rotor speed of rotor 412. They can include a chaffer clearancesensor that senses the size of openings in chaffer 422. They can includea sieve clearance sensor that senses the size of openings in sieve 424.They can include a material other than grain (MOG) moisture sensor thatcan be configured to sense the moisture level of the material other thangrain that is passing through combine 400. They can include machinesetting sensors that are configured to sense the various configurablesettings on combine 400. They can also include a machine orientationsensor that can be any of a wide variety of different types of sensorsthat sense the orientation of combine 400. Crop property sensors cansense a variety of different types of crop properties, such as croptype, crop moisture, and other crop properties. They can also beconfigured to sense characteristics of the crop as they are beingprocessed by combine 400. For instance, they can sense grain feed rate,as it travels through the feeder house 406, clean grain elevator 430 orelsewhere in the harvester 400. They can sense mass flow rate of grainthrough elevator 430 or through other portions of the harvester 400, orprovide other output signals indicative of other sensed variables. Theseare examples only.

The present discussion has mentioned processors and servers. In oneembodiment, the processors and servers include computer processors withassociated memory and timing circuitry, not separately shown. They arefunctional parts of the systems or devices to which they belong and areactivated by, and facilitate the functionality of the other componentsor items in those systems.

Also, a number of user interface displays have been discussed. They cantake a wide variety of different forms and can have a wide variety ofdifferent user actuatable input mechanisms disposed thereon. Forinstance, the user actuatable input mechanisms can be text boxes, checkboxes, icons, links, drop-down menus, search boxes, etc. They can alsobe actuated in a wide variety of different ways. For instance, they canbe actuated using a point and click device (such as a track ball ormouse). They can be actuated using hardware buttons, switches, ajoystick or keyboard, thumb switches or thumb pads, etc. They can alsobe actuated using a virtual keyboard or other virtual actuators. Inaddition, where the screen on which they are displayed is a touchsensitive screen, they can be actuated using touch gestures. Also, wherethe device that displays them has speech recognition components, theycan be actuated using speech commands.

A number of data stores have also been discussed. It will be noted theycan each be broken into multiple data stores. All can be local to thesystems accessing them, all can be remote, or some can be local whileothers are remote. All of these configurations are contemplated herein.

Also, the figures show a number of blocks with functionality ascribed toeach block. It will be noted that fewer blocks can be used so thefunctionality is performed by fewer components. Also, more blocks can beused with the functionality distributed among more components.

It will be noted that the above discussion has described a variety ofdifferent systems, components and/or logic. It will be appreciated thatsuch systems, components and/or logic can be comprised of hardware items(such as processors and associated memory, or other processingcomponents, some of which are described below) that perform thefunctions associated with those systems, components and/or logic. Inaddition, the systems, components and/or logic can be comprised ofsoftware that is loaded into a memory and is subsequently executed by aprocessor or server, or other computing component, as described below.The systems, components and/or logic can also be comprised of differentcombinations of hardware, software, firmware, etc., some examples ofwhich are described below. These are only some examples of differentstructures that can be used to form the systems, components and/or logicdescribed above. Other structures can be used as well.

FIG. 8 is one example of a computing environment in which elements ofFIG. 1 , or parts of it, (for example) can be deployed. With referenceto FIG. 8 , an example system for implementing some embodiments includesa computing device in the form of a computer 810 programmed to operateas described above. Components of computer 810 may include, but are notlimited to, a processing unit 820 (which can comprise a processor orserver from previous FIGS.), a system memory 830, and a system bus 821that couples various system components including the system memory tothe processing unit 820. The system bus 821 may be any of several typesof bus structures including a memory bus or memory controller, aperipheral bus, and a local bus using any of a variety of busarchitectures. Memory and programs described with respect to FIG. 1 canbe deployed in corresponding portions of FIG. 8 .

Computer 810 typically includes a variety of computer readable media.Computer readable media can be any available media that can be accessedby computer 810 and includes both volatile and nonvolatile media,removable and non-removable media. By way of example, and notlimitation, computer readable media may comprise computer storage mediaand communication media. Computer storage media is different from, anddoes not include, a modulated data signal or carrier wave. It includeshardware storage media including both volatile and nonvolatile,removable and non-removable media implemented in any method ortechnology for storage of information such as computer readableinstructions, data structures, program modules or other data. Computerstorage media includes, but is not limited to, RAM, ROM, EEPROM, flashmemory or other memory technology, CD-ROM, digital versatile disks (DVD)or other optical disk storage, magnetic cassettes, magnetic tape,magnetic disk storage or other magnetic storage devices, or any othermedium which can be used to store the desired information and which canbe accessed by computer 810. Communication media may embody computerreadable instructions, data structures, program modules or other data ina transport mechanism and includes any information delivery media. Theterm “modulated data signal” means a signal that has one or more of itscharacteristics set or changed in such a manner as to encode informationin the signal.

The system memory 830 includes computer storage media in the form ofvolatile and/or nonvolatile memory such as read only memory (ROM) 831and random access memory (RAM) 832. A basic input/output system 833(BIOS), containing the basic routines that help to transfer informationbetween elements within computer 810, such as during start-up, istypically stored in ROM 831. RAM 832 typically contains data and/orprogram modules that are immediately accessible to and/or presentlybeing operated on by processing unit 820. By way of example, and notlimitation, FIG. 8 illustrates operating system 834, applicationprograms 835, other program modules 836, and program data 837.

The computer 810 may also include other removable/non-removablevolatile/nonvolatile computer storage media. By way of example only,FIG. 8 illustrates a hard disk drive 841 that reads from or writes tonon-removable, nonvolatile magnetic media, an optical disk drive 855,and nonvolatile optical disk 856. The hard disk drive 841 is typicallyconnected to the system bus 821 through a non-removable memory interfacesuch as interface 840, and optical disk drive 855 are typicallyconnected to the system bus 821 by a removable memory interface, such asinterface 850.

Alternatively, or in addition, the functionality described herein can beperformed, at least in part, by one or more hardware logic components.For example, and without limitation, illustrative types of hardwarelogic components that can be used include Field-programmable Gate Arrays(FPGAs), Application-specific Integrated Circuits (e.g., ASICs),Application-specific Standard Products (e.g., ASSPs), System-on-a-chipsystems (SOCs), Complex Programmable Logic Devices (CPLDs), etc.

The drives and their associated computer storage media discussed aboveand illustrated in FIG. 8 , provide storage of computer readableinstructions, data structures, program modules and other data for thecomputer 810. In FIG. 8 , for example, hard disk drive 841 isillustrated as storing operating system 844, application programs 845,other program modules 846, and program data 847. Note that thesecomponents can either be the same as or different from operating system834, application programs 835, other program modules 836, and programdata 837.

A user may enter commands and information into the computer 810 throughinput devices such as a keyboard 862, a microphone 863, and a pointingdevice 861, such as a mouse, trackball or touch pad. Other input devices(not shown) may include a joystick, game pad, satellite dish, scanner,or the like. These and other input devices are often connected to theprocessing unit 820 through a user input interface 860 that is coupledto the system bus, but may be connected by other interface and busstructures. A visual display 891 or other type of display device is alsoconnected to the system bus 821 via an interface, such as a videointerface 890. In addition to the monitor, computers may also includeother peripheral output devices such as speakers 897 and printer 896,which may be connected through an output peripheral interface 895.

The computer 810 is operated in a networked environment using logicalconnections (such as a controller area network—CAN, local areanetwork—LAN, or wide area network WAN) to one or more remote computers,such as a remote computer 880.

When used in a LAN networking environment, the computer 810 is connectedto the LAN 871 through a network interface or adapter 870. When used ina WAN networking environment, the computer 810 typically includes amodem 872 or other means for establishing communications over the WAN873, such as the Internet. In a networked environment, program modulesmay be stored in a remote memory storage device. FIG. 8 illustrates, forexample, that remote application programs 885 can reside on remotecomputer 880.

It should also be noted that the different examples described herein canbe combined in different ways. That is, parts of one or more examplescan be combined with parts of one or more other examples. All of this iscontemplated herein.

Example 1 is an agricultural mobile machine, comprising:

an illumination source that is actuated to illuminate a crop samplebeing processed by the agricultural mobile machine, through a samplewindow element, with electromagnetic radiation;

a detector that detects radiation reflected from the crop sample andgenerates a detector signal indicative of the reflected radiation;

a temperature sensor that senses a temperature of the sample windowelement and generates a temperature sensor signal indicative of thesensed temperature; and

a closed loop control system that generates an illumination sourcecontrol signal to control the illumination source based on thetemperature sensor signal.

Example 2 is the agricultural mobile machine of any or all previousexamples wherein the detector comprises:

a near infrared radiation spectroscopy sensor.

Example 3 is the agricultural mobile machine of any or all previousexamples wherein the closed loop control system comprises:

an illumination source controller configured to generate a lamp on/offsignal to turn the illumination source on and off based on thetemperature sensor signal.

Example 4 is the agricultural mobile machine of any or all previousexamples wherein the closed loop control system comprises:

a sample trigger generator that receives a sample rate signal andgenerates, based on the sample rate signal, a trigger signal triggeringthe detector to generate the detector signal.

Example 5 is the agricultural mobile machine of any or all previousexamples wherein the illumination source controller is configured tocontrol the illumination source to keep the temperature of the samplewindow element in a predetermined temperature range.

Example 6 is the agricultural mobile machine of any or all previousexamples wherein the illumination source controller is configured toturn the illumination source on and off to maintain the temperature ofthe sample window between a first threshold temperature value and asecond temperature threshold value.

Example 7 is the agricultural mobile machine of any or all previousexamples wherein the illumination controller comprises:

a signal conditioning component configured to filter the temperaturesensor signal.

Example 8 is the agricultural mobile machine of any or all previousexamples wherein the agricultural mobile machine comprises a combineharvester that harvests crop and moves the harvested crop through a croppassageway, the sample window being provided in the crop passageway.

Example 9 is the agricultural mobile machine of any or all previousexamples wherein the agricultural mobile machine comprises aself-propelled forage harvester that harvests crop and moves theharvested crop through a crop passageway, the sample window beingprovided in the crop passageway.

Example 10 is the agricultural mobile machine of any or all previousexamples and further comprising:

a geographic position sensor that senses a geographic position of theagricultural mobile machine and generates a position signal indicativeof the agricultural mobile machine.

Example 11 is a method of controlling an agricultural mobile machine,comprising:

processing a harvested crop;

actuating an illumination source to illuminate a crop sample beingprocessed by the agricultural mobile machine, through a sample windowelement, with electromagnetic radiation;

detecting radiation reflected from the crop sample;

generating a detector signal indicative of the reflected radiation;

sensing a temperature of the sample window element;

generating a temperature sensor signal indicative of the sensedtemperature; and

generating an illumination source control signal, with a closed loopcontrol system, to control the illumination source based on thetemperature sensor signal.

Example 12 is the method of any or all previous examples whereindetecting radiation comprises:

detecting near infrared radiation with a spectroscopy sensor.

Example 13 is the method of any or all previous examples generating anillumination source control signal comprises:

generating a lamp on/off signal to turn the illumination source on andoff based on the temperature sensor signal.

Example 14 is the method of any or all previous examples whereindetecting radiation comprises:

receiving a sample rate signal; and

generating, based on the sample rate signal, a trigger signal triggeringthe detector to generate the detector signal.

Example 15 is the method of any or all previous examples whereingenerating a lamp on/off signal comprises:

controlling the illumination source to keep the temperature of thesample window element in a predetermined temperature range.

Example 16 is the method of any or all previous examples whereincontrolling the illumination source comprises:

turning the illumination source on and off to maintain the temperatureof the sample window between a first threshold temperature value and asecond temperature threshold value.

Example 17 is an agricultural harvester, comprising:

harvesting functionality that harvests crop and moves the harvested cropalong a crop travel path, through a crop passageway;

a sample window element that defines a portion of the crop passageway;

an illumination source that is actuated to illuminate a crop samplebeing processed by the agricultural harvester, through the sample windowelement, with electromagnetic radiation;

a detector that detects radiation reflected from the crop sample andgenerates a detector signal indicative of the reflected radiation;

a temperature sensor that senses a temperature proximate the crop sampleand generates a temperature sensor signal indicative of the sensedtemperature; and

a closed loop control system that generates an illumination sourcecontrol signal to control the illumination source based on thetemperature sensor signal.

Example 18 is the agricultural harvester of any or all previous exampleswherein the temperature sensor is configured to sense a temperature ofthe sample window element.

Example 19 is the agricultural harvester of any or all previous exampleswherein the detector comprises:

a near infrared radiation spectroscopy sensor.

Example 20 is the agricultural harvester of any or all previous exampleswherein the closed loop control system comprises:

an illumination source controller configured to generate a lamp on/offsignal to turn the illumination source on and off based on thetemperature sensor signal.

Although the subject matter has been described in language specific tostructural features and/or methodological acts, it is to be understoodthat the subject matter defined in the appended claims is notnecessarily limited to the specific features or acts described above.Rather, the specific features and acts described above are disclosed asexample forms of implementing the claims.

What is claimed is:
 1. An agricultural mobile machine, comprising: an illumination source that is actuated to illuminate a crop sample being processed by the agricultural mobile machine, through a sample window element, with electromagnetic radiation; a detector that detects radiation reflected from the crop sample and generates a detector signal indicative of the reflected radiation; a temperature sensor that senses a temperature of the sample window element and generates a temperature sensor signal indicative of the sensed temperature; and a closed loop control system that generates an illumination source control signal to control the illumination source based on the temperature sensor signal.
 2. The agricultural mobile machine of claim 1 wherein the detector comprises: a near infrared radiation spectroscopy sensor.
 3. The agricultural mobile machine of claim 1 wherein the closed loop control system comprises: an illumination source controller configured to generate a lamp on/off signal to turn the illumination source on and off based on the temperature sensor signal.
 4. The agricultural mobile machine of claim 3 wherein the closed loop control system comprises: a sample trigger generator that receives a sample rate signal and generates, based on the sample rate signal, a trigger signal triggering the detector to generate the detector signal.
 5. The agricultural mobile machine of claim 3 wherein the illumination source controller is configured to control the illumination source to keep the temperature of the sample window element in a predetermined temperature range.
 6. The agricultural mobile machine of claim 5 wherein the illumination source controller is configured to turn the illumination source on and off to maintain the temperature of the sample window between a first threshold temperature value and a second temperature threshold value.
 7. The agricultural mobile machine of claim 6 wherein the illumination controller comprises: a signal conditioning component configured to filter the temperature sensor signal.
 8. The agricultural mobile machine of claim 1 wherein the agricultural mobile machine comprises a combine harvester that harvests crop and moves the harvested crop through a crop passageway, the sample window being provided in the crop passageway.
 9. The agricultural mobile machine of claim 1 wherein the agricultural mobile machine comprises a self-propelled forage harvester that harvests crop and moves the harvested crop through a crop passageway, the sample window being provided in the crop passageway.
 10. The agricultural mobile machine of claim 1 and further comprising: a geographic position sensor that senses a geographic position of the agricultural mobile machine and generates a position signal indicative of the agricultural mobile machine.
 11. A method of controlling an agricultural mobile machine, comprising: processing a harvested crop; actuating an illumination source to illuminate a crop sample being processed by the agricultural mobile machine, through a sample window element, with electromagnetic radiation; detecting radiation reflected from the crop sample; generating a detector signal indicative of the reflected radiation; sensing a temperature of the sample window element; generating a temperature sensor signal indicative of the sensed temperature; and generating an illumination source control signal, with a closed loop control system, to control the illumination source based on the temperature sensor signal.
 12. The method of claim 11 wherein detecting radiation comprises: detecting near infrared radiation with a spectroscopy sensor.
 13. The method of claim 11 generating an illumination source control signal comprises: generating a lamp on/off signal to turn the illumination source on and off based on the temperature sensor signal.
 14. The method of claim 13 wherein detecting radiation comprises: receiving a sample rate signal; and generating, based on the sample rate signal, a trigger signal triggering the detector to generate the detector signal.
 15. The method of claim 13 wherein generating a lamp on/off signal comprises: controlling the illumination source to keep the temperature of the sample window element in a predetermined temperature range.
 16. The method of claim 15 wherein controlling the illumination source comprises: turning the illumination source on and off to maintain the temperature of the sample window between a first threshold temperature value and a second temperature threshold value.
 17. An agricultural harvester, comprising: harvesting functionality that harvests crop and moves the harvested crop along a crop travel path, through a crop passageway; a sample window element that defines a portion of the crop passageway; an illumination source that is actuated to illuminate a crop sample being processed by the agricultural harvester, through the sample window element, with electromagnetic radiation; a detector that detects radiation reflected from the crop sample and generates a detector signal indicative of the reflected radiation; a temperature sensor that senses a temperature proximate the crop sample and generates a temperature sensor signal indicative of the sensed temperature; and a closed loop control system that generates an illumination source control signal to control the illumination source based on the temperature sensor signal.
 18. The agricultural harvester of claim 17 wherein the temperature sensor is configured to sense a temperature of the sample window element.
 19. The agricultural harvester of claim 17 wherein the detector comprises: a near infrared radiation spectroscopy sensor.
 20. The agricultural harvester of claim 17 wherein the closed loop control system comprises: an illumination source controller configured to generate a lamp on/off signal to turn the illumination source on and off based on the temperature sensor signal. 